EP2148097A1 - Betätiger für flüssigkeitsausguss - Google Patents

Betätiger für flüssigkeitsausguss Download PDF

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Publication number
EP2148097A1
EP2148097A1 EP08752491A EP08752491A EP2148097A1 EP 2148097 A1 EP2148097 A1 EP 2148097A1 EP 08752491 A EP08752491 A EP 08752491A EP 08752491 A EP08752491 A EP 08752491A EP 2148097 A1 EP2148097 A1 EP 2148097A1
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EP
European Patent Office
Prior art keywords
fibers
actuator
rubber tube
fluid injection
injection type
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP08752491A
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English (en)
French (fr)
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EP2148097A4 (de
EP2148097B1 (de
Inventor
Taro Nakamura
Kenji Yamamoto
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Chuo University
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Chuo University
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Filing date
Publication date
Application filed by Chuo University filed Critical Chuo University
Publication of EP2148097A1 publication Critical patent/EP2148097A1/de
Publication of EP2148097A4 publication Critical patent/EP2148097A4/de
Application granted granted Critical
Publication of EP2148097B1 publication Critical patent/EP2148097B1/de
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
    • F15B15/103—Characterised by the construction of the motor unit the motor being of diaphragm type using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators

Definitions

  • the present invention relates to an actuator used as an artificial muscle or the like, for instance, and more particularly to a fluid injection type actuator so configured that a tubular body consisting of an elastic body is expanded by a fluid injected thereinto to cause lengthwise contraction and extension thereof.
  • FIG. 9A is an illustration showing a structure of a McKibben type artificial muscle 50 which has hitherto been under study.
  • the artificial muscle 50 has a structure of a cylindrical rubber tube 51 covered on the outside by a sleeve-like braided fiber cord 52.
  • the rubber tube 51 and the fiber cord 52 are strongly secured at both ends by terminals 53 and fastening bands 54.
  • the angle 2 ⁇ between fibers 52a and 52a of the fiber cord 52 changes as shown in FIG. 9B .
  • this McKibben type artificial muscle 50 which consists of a rubber tube 51 covered with a fiber cord 52 only, has been subject to a problem of tearing rubber or the like because friction occurs between the rubber tube 51 and the fiber cord 52 at contraction and extension (or elongation).
  • a rubber artificial muscle 60 so configured that fibers are inserted in a rubber tube as shown in FIGS. 10A and 10B has been proposed.
  • the rubber tube 61 of the rubber artificial muscle 60 has a plurality of kite strings (cotton yarn) 63 inserted and extending therein in the longitudinal direction which restrict the longitudinal extension of the rubber tube 61.
  • the kite strings 63 are in one piece with the surrounding rubber film 62. This helps improve the durability of the artificial muscle 60 because friction between fibers (kite strings 63) and rubber (rubber film 62) at the contraction and extension of the rubber tube 61 can be eliminated.
  • Non-patent literature 1 Matsushita: Gomu Jinkokin Seisakuhou Noto (Notes on Fabrication of Rubber Artificial Muscle) ; "Keisoku To Seigyo" (Measurement and Control), Vol. 7, No. 12 (November
  • the artificial muscle 60 uses, as a restraining member, thick kite strings 63 with a diameter of about 0.2 to 0.8 mm which are each a multiplicity of twisted cotton yarn 63a as shown in FIG. 10B .
  • the expansion in the radial direction gets concentrated (or localized) in the rubber film 62 between kite strings 63 and 63 as shown in FIG. 11 . And this has given rise to a problem that the radial expansion cannot be fully translated into longitudinal contraction.
  • kite strings 63 may narrow the interval between the kite strings 63 and 63, but may increase the restraining force to work on the rubber film 62 in the longitudinal direction. Consequently, it is difficult to alleviate the stress concentration in the rubber film 62 between the kite strings 63 and 63.
  • the present invention has been made in view of these conventional problems, and an object thereof is to provide an actuator that can efficiently translate radial expansion into longitudinal movement when the contraction and extension of the tubular body is effected by the injection of a fluid thereinto.
  • a first aspect of the present invention provides a fluid injection type actuator including a tubular body, consisting of an elastic body, and a lid member at each end of the tubular body, configured so that a pressure of a fluid supplied into a space formed by the tubular body and the lid members expands the tubular body radially thereby contracting it longitudinally, wherein the tubular body has an annular fiber group of a plurality of fibers, which are arranged in an annular array along the circumference thereof and extending longitudinally therein, and a plurality of fibers, which are disposed radially outside or radially inside of the annular fiber group and extending longitudinally therein.
  • a second aspect of the present invention provides a fluid injection type actuator, wherein the plurality of fibers disposed radially outside or radially inside of the annular fiber group form an annular fiber group arranged in an annular array along the circumference of the tubular body.
  • a third aspect of the present invention provides a fluid injection type actuator, wherein a fiber of another annular fiber group is positioned radially inside or radially outside of the gap between adjacent fibers of the annular fiber group.
  • a fourth aspect of the present invention provides a fluid injection type actuator, wherein the fibers are each coated in an elastic body.
  • a fifth aspect of the present invention provides a fluid injection type actuator, wherein the tubular body is provided with rings therearound, the rings restricting the radial expansion thereof.
  • the fluid injection type actuator is such that the tubular body, consisting of an elastic body, is expanded by the pressure of a fluid and the length of the tubular body is changed.
  • an annular fiber group of a plurality of fibers which are arranged in an annular array along the circumference thereof and extending longitudinally therein, and a plurality of fibers, which are disposed radially outside or radially inside of the annular fiber group and extending longitudinally therein. Accordingly, the tubular body can be expanded more uniformly in the radial direction.
  • the capacity to efficiently translate radial expansion into longitudinal movement and the absence of concentration of stress in the elastic body help improve the durability of the actuator.
  • the plurality of fibers disposed radially outside or radially inside of the annular fiber group may be so arranged as to form an annular fiber group in an annular array along the circumference of the tubular body. Then it is possible to make the radial expansion of the tubular body more uniform.
  • the annular fiber groups as described above may be formed in such a manner that a fiber of another annular fiber group is positioned radially inside or radially outside of the gap between adjacent fibers of the annular fiber group. Then, even when the density of fibers decreases at the time of expansion, the fibers are present sufficiently throughout the elastic body, so that it is possible to restrain the elastic body over its entirety in the longitudinal direction.
  • the fibers may be coated in an elastic body such that the fibers are in one piece with the elastic body. Then, at the time of expansion, the fibers can restrain the elastic body in the longitudinal direction without fail, with the result that radial expansion can be translated into longitudinal movement even more efficiently.
  • the tubular body may be provided with rings therearound to restrict the radial expansion thereof. This way the rings divide the tubular body into a plurality of regions and the tubular body expands radially in each region. Then the ratio between diameter and length of the tubular body at the time of expansion can be adjusted, so that the shape of the tubular body when expanded can be determined in such a way as to meet the specifications.
  • FIG. 1 illustrates a structure of a fluid injection type actuator 10 according to the best mode of the present invention.
  • an actuator body 11 is a tubular body 12 made of a rubber material such as silicone rubber (hereinafter referred to as rubber tube 12) with a large number of fibers 13 inserted and extending longitudinally therein.
  • Lid members 14 and 15 are fitted to the respective ends of the actuator body 11, with one end thereof inserted in the rubber tube 12.
  • Fastening bands 16 are disposed on the peripheral end portions of the rubber tube 12 and fasten the actuator body 11 and the lid member 14 and 15.
  • a compressed air injection tube 17a and an air discharge tube 17b are both attached to one of the lid members 14.
  • the compressed air injection tube 17a is connected to a compressed air supply unit 19 via an electromagnetic valve 18a for air injection, whereas the air discharge tube 17b is connected to an electromagnetic valve 18b for air discharge.
  • a control unit 20 controls the expansion/contraction of the actuator body 11 by controlling the opening and closing of the electromagnetic valve 18a for air injection and the electromagnetic valve 18b for air discharge.
  • the actuator body 11, to be more specific has a plurality of annular fiber groups 13A to 13C being inserted therein as shown in a cross sectional view of FIG. 1B .
  • annular fiber groups 13A to 13C are each a plurality of fibers 13 which are arranged annularly along the circumference of the rubber tube 12 and are extending longitudinally therein.
  • the fibers 13 to be used are, for example, glass roving fibers or carbon roving fibers, which are single non-twisted fibers roved without mechanical twist and featuring an extreme thinness of about 5 to 15 ⁇ m in diameter and high strength.
  • each fiber 13 is coated in a rubber member constituting the rubber tube 12. In the present embodiment, since the fibers to be inserted in the rubber tube 12 are extremely small in diameter, the fibers 13 can be inserted very close together in the rubber tube 12.
  • annular fiber groups each of which being a large number of fibers of extremely small diameter arranged in an annular array, in a plurality of layers (three layers herein) in the radial direction.
  • a fiber 13p of an annular fiber group 13A may, for instance, be present radially inside of the gap between adjacent fibers 13m and 13n of a middle annular fiber group 13A, and a fiber 13q of an annular fiber group 13C may be present radially outside thereof.
  • the fiber 13p or the fiber 13q is positioned in the gap between the fibers 13m and 13n as viewed circumferentially. Therefore, even when the rubber tube 12 is expanded, the rubber tube 12 can be restrained uniformly over the entirety in the longitudinal direction.
  • the outside diameter of the portions of the lid members 14 and 15 to be inserted in the actuator body 11 is set larger than the inside diameter of the end portions of the actuator body 11. Therefore, the lid members 14 and 15 inserted into the end portions of the actuator body 11 by spreading the openings in the actuator body 11 wider will create a sealed space formed by the lid members 14 and 15 and the actuator body 11, which is almost equal in volume to the hollow part of the actuator body 11.
  • fastening bands 16, if used to fasten the peripheral end portions of the actuator body 11, may not only improve the sealing performance but also may join the end portions of the actuator body 11, namely, the end portions of the rubber tube 12, which is an elastic body, securely to the ends of the fibers 13, which restrain the elastic body longitudinally.
  • FIGS. 2A to 2D are illustrations showing an example of fabrication method of the actuator body 11.
  • a round bar 22 such as an aluminum bar
  • a silicone rubber tube 21 so as to preserve the shape of the silicone rubber tube 21.
  • fibers are laid out in a manner of a sheet on the side face of the silicone rubber tube 21 and stuck there temporarily. In doing so, the fibers 13 must be stuck straight and uniformly in the longitudinal direction J of the silicone rubber tube 21 so as to form a fiber layer.
  • a one-component RVT rubber (type of silicone rubber dryable at room temperature) 23 is applied on the fibers 13 and then dried.
  • the arrangement may be such that two or more layers of fibers 13 in sheet form are coated all at once with RVT rubber 23 or that the fibers 13a are stuck on the silicone rubber tube 21 layer by layer and they are coated with RVT rubber 23 a layer at a time.
  • heat-shrinkable tubes 30T for instance, are placed at equal intervals on the silicone rubber tube 21 coated with the RVT rubber 23.
  • the heat-shrinkable tubes 30T are heated to shrink, they are turned into the rings 30 by fixing them there with an adhesive or the like.
  • the round bar 22 is removed from the silicone rubber tube 21, and the silicone rubber tube 21 is cut into pieces of a predetermined length. In this manner, it is possible to fabricate an actuator body 11, consisting of a silicone rubber tube 21 and RVT rubber (silicone rubber) 23, which has fibers 13 inserted therein as shown in FIG. 2D .
  • the actuator body 11 of the present embodiment is of such structure that the fibers 13, which are each a single no-twist fiber with a diameter of about 5 to 15 ⁇ m, are inserted therein at high density in both longitudinal and radial directions. Accordingly, the rubber tube 12 can be restrained longitudinally over the entirety of the actuator body 11. Thus, as shown by the right-hand illustration of FIG. 4 , the rubber tube 12 can expand uniformly and fully in the radial direction such that the contraction force can be efficiently transmitted in the longitudinal direction. As a result, a fluid injection type actuator 10 featuring an ample amount of contraction x can be obtained.
  • the introduction of compressed air is discontinued by closing the electromagnetic valve 18a for air injection and at the same time the compressed air inside the rubber tube 12 is released into the atmosphere by opening the electromagnetic valve 18b for air discharge.
  • the opening and closing of the electromagnetic valves 18a and 18b are carried out by the control unit 20 (see FIG. 1 ).
  • the gap between fiber 13 and fiber 13 is extremely small. Therefore, even when the rubber tube 12 is expanded, there exists only a suppressed level of pressure concentration in the rubber tube. This makes operation under high pressure easier and, in addition, improves durability because the rupture of the rubber tube 12 or the separation of fiber 13 and rubber tube 12 is less likely to occur.
  • the fluid injection type actuator 10 according to the present invention has a plurality of annular fiber groups 13A to 13C. Therefore, even when the gap between fiber 13 and fiber 13 has widened as a result of the expansion of the rubber tube 12, fibers 13 of other fiber layers are present there.
  • the density of fibers may become lower than that before expansion, but a condition in which fibers 13 are distributed evenly and at sufficient density in the circumferential direction will be maintained.
  • the rubber tube 12 can be restrained longitudinally over the entirety of the actuator body 11 such that the contraction force can be efficiently transmitted in the longitudinal direction.
  • the actuator body 11 which is the expansion and contraction section of the fluid injection type actuator 10
  • the actuator body 11 is constituted of a cylindrical rubber tube 12 and a plurality of annular fiber groups 13A to 13C which are each a plurality of fibers 13, such as glass roving fibers with a diameter of 5 to 15 ⁇ m, arranged in an annular array along the circumference of the rubber tube 12 and extending in the longitudinal direction thereof. Therefore, even when the rubber tube 12 is expanded, the rubber tube 12 can be restrained longitudinally over the entirety of the actuator body 11, and thus the contraction force can be efficiently transmitted in the longitudinal direction. Accordingly, the actuator can be made smaller and thinner. Also, the fluid injection type actuator 10, which allows the contraction force to be efficiently transmitted longitudinally and provides a large tensile force for a small pressure change, can help make the operating system of the actuators of compressors, pumps, and the like smaller.
  • the fibers 13 used are glass roving fibers with a diameter of 5 to 15 ⁇ m or single no-twist fibers such as carbon roving fibers which are extremely thin and without twist.
  • fibers made by twisting a plurality of these fibers may also be used.
  • the diameter of a fiber is preferably 0.1 mm or less and more preferably 50 ⁇ m or less.
  • the material of the rubber tube 12 is silicone rubber, but other synthetic rubbers or natural rubber, such as natural latex rubber, may be used instead.
  • the fluid injection type actuator to be used may be a ringed actuator 10R which has rings 30 disposed around the rubber tube at equal intervals as shown in FIG. 5 .
  • the rings 30 restrict the radial expansion of the rubber tube 12, and the positions thereof serve as the knots for expansion and contraction of the actuator body 11.
  • the rings 30 may be formed using a method as shown in FIG. 2C .
  • the actuator body 11 are provided to restrict the expansion of the actuator body 11 as a whole, and the greater the number of knots (number of rings), the smaller the amount of expansion d of the actuator body 11 as a whole will be. In other words, the amount of expansion d can be made smaller by the provision of the rings 30.
  • the ratio between diameter and length of the actuator body 11 at the time of expansion can be adjusted by choosing the number of rings, so that the shape of the tubular body when expanded can be determined in such a way as to meet the specifications.
  • an actuator such as an active endoscope used as a medical device, which is subject to a limitation on the maximum diameter at expansion and yet is in need of a considerable length in relation to the diameter, is to be fabricated
  • the rubber tube 12 is constituted of a silicone rubber, and therefore degradation and like troubles do not occur even when it is used under raised pressure. Also, as shown in FIG.
  • the fluid injection type actuator 10 is not only used alone but can be used in a series of multiple actuators 10 coupled to each other by coupling members 33.
  • a coupling member 33 is placed between the lid member 14 and the lid member 15, and therefore it is preferable that the compressed air injection tube 17a and the air discharge tube 17b are installed at one longitudinal end portion of the rubber tube 12 as shown in FIG. 6 .
  • a fluid injection type actuator was fabricated using a tubular silicone rubber having an inside diameter of 0.7 mm, an outside diameter of 0.9 mm and a total length of 200 mm which embeds therewithin annular fiber groups consisting of a large number of glass roving fibers each with a diameter of 9 ⁇ m. And a test was conducted to determine whether the fluid injection type actuator meets the use conditions required of a common industrial endoscope as specified below. Note that the number of rings used was 40 and the interval between knots was 5 mm. Use conditions of endoscope Maximum diameter: 2.3 mm or less Total length: 200 to 400 mm Maximum pressure: 0.7 MPa or below Capacity to raise a 500-gram weight 4 mm or more when it is contracted with the weight suspended.
  • FIG. 7A is a graph showing a relationship between the introduced pressure (MPa) and the expansion diameter (mm) in a no-load condition
  • FIG. 7B is a graph showing a relationship between the introduced pressure (MPa) and the contraction amount (mm), which indicate that both the expansion diameter and contraction amount increase along with the increase in pressure.
  • the fluid injection type actuator exhibited an expansion radius of 2.3 mm or less and a contraction amount of 4 mm at a pressure of 0.13 MPa under no load.
  • FIGS. 8A and 8B are respectively the graphs showing a relationship between the introduced pressure (MPa) and the expansion diameter (mm) and a relationship between the introduced pressure (MPa) and the contraction amount (mm) when a 500-gram weight is suspended from the fluid injection type actuator (in a loaded condition).
  • both the expansion diameter and contraction amount increase along with the increase in pressure.
  • the fluid injection type actuator is subject to a tensile force in the longitudinal direction, which results in a restricted expansion and a reduced amount of contraction. Therefore, it is necessary to apply a higher pressure to obtain the same amount of contraction.
  • the fluid injection type actuator according to the present invention provides a contraction amount of 4 mm (target value) at 0.17 MPa, a pressure lower than that of use condition (0.7 MPa or below), as well as an expansion radius of 2.3 mm or less at that time.
  • the fluid injection type actuator according to the present invention meets the use conditions required of a common industrial endoscope. Note that since the pressure required of a common industrial endoscope is 0.7 MPa or below, the fluid injection type actuator used in the present experiment satisfies the pressure condition by a considerable margin. Therefore, it is possible to fabricate a thin-type artificial muscle by use of a silicone tube with even smaller diameter or to reduce the risk of rupture by raising the pressure resistance by the coating of a silicone tube on the thin-type artificial muscle.
  • the fluid injection type actuator allows the radial expansion thereof to be efficiently translated into the longitudinal movement thereof, such that the actuator can be made smaller and thinner. Therefore, the present actuator can be applied not only to mechatronic products, such as robotic hands, but also to medical devices, such as active catheters and active endoscopes, and artificial muscles. Also, its capacity to provide a large tensile force for a small pressure change can help make the operating system of the actuators of compressors, pumps, and the like smaller.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Actuator (AREA)
EP08752491.4A 2007-05-11 2008-05-09 Betätiger für flüssigkeitsausguss Active EP2148097B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007126814 2007-05-11
PCT/JP2008/058605 WO2008140032A1 (ja) 2007-05-11 2008-05-09 流体注入型アクチュエータ

Publications (3)

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EP2148097A1 true EP2148097A1 (de) 2010-01-27
EP2148097A4 EP2148097A4 (de) 2012-03-07
EP2148097B1 EP2148097B1 (de) 2016-01-06

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US (1) US8640602B2 (de)
EP (1) EP2148097B1 (de)
JP (1) JP5246717B2 (de)
WO (1) WO2008140032A1 (de)

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GB2468246B (en) * 2007-12-27 2012-08-01 Gen Electric Actuator and method for producing mechanical motion
CN105965537A (zh) * 2016-06-20 2016-09-28 东南大学 一种双开口直纤维型软接头人工肌肉
CN106002994A (zh) * 2016-05-18 2016-10-12 东南大学 一种单开口直纤维型软接头人工肌肉
CN109937307A (zh) * 2016-11-07 2019-06-25 株式会社普利司通 液压致动器
CN113103219A (zh) * 2021-04-02 2021-07-13 清华大学 气动驱动器、机器人及机器人控制方法

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JP5416580B2 (ja) * 2009-12-28 2014-02-12 学校法人 中央大学 流体注入型アクチュエータ
JP2012176124A (ja) * 2011-02-25 2012-09-13 Chuo Univ 筒状体の製造方法
US10132336B1 (en) 2013-04-22 2018-11-20 Vecna Technologies, Inc. Actuator for rotating members
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CN103802126A (zh) * 2014-03-07 2014-05-21 上海当世流体动力控制设备有限公司 液压仿生肌肉
JP6377390B2 (ja) * 2014-04-04 2018-08-22 株式会社ブリヂストン ランフラットラジアルタイヤ
JP6341569B2 (ja) * 2014-10-06 2018-06-13 国立大学法人東京工業大学 流体圧アクチュエータ
JP6710029B2 (ja) * 2015-08-31 2020-06-17 ダイヤホールディングス株式会社 アクチュエータ及び身体支援装置
JP6854504B2 (ja) * 2016-11-02 2021-04-07 学校法人 中央大学 流体装置
US10774855B2 (en) * 2016-11-07 2020-09-15 Bridgestone Corporation Hydraulic actuator
CN106816074B (zh) * 2017-03-21 2020-05-19 淮阴师范学院 一种肌肉组织再现接口装置
CN111295523B (zh) 2017-10-30 2022-03-11 株式会社普利司通 气动致动器
JP7120615B2 (ja) * 2017-11-17 2022-08-17 Ｎｋｅ株式会社 動作補助具及び固定方法
JP7016520B2 (ja) * 2017-12-19 2022-02-07 学校法人 中央大学 アクチュエータ及び自走式ロボット
JP7365037B2 (ja) 2019-07-29 2023-10-19 学校法人 中央大学 動作装置用ゴム部材の製造方法、動作装置用ゴム部材およびこれを用いた動作装置
JP7410564B2 (ja) 2020-03-16 2024-01-10 学校法人 中央大学 アクチュエータの製造方法及びアクチュエータ
RU204473U1 (ru) * 2021-01-10 2021-05-26 Антон Сергеевич Бирюков Электромагнитная искусственная мышца
KR102490372B1 (ko) * 2022-11-07 2023-01-19 최창림 압력조절 현가장치

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GB2468246B (en) * 2007-12-27 2012-08-01 Gen Electric Actuator and method for producing mechanical motion
CN106002994A (zh) * 2016-05-18 2016-10-12 东南大学 一种单开口直纤维型软接头人工肌肉
CN105965537A (zh) * 2016-06-20 2016-09-28 东南大学 一种双开口直纤维型软接头人工肌肉
CN105965537B (zh) * 2016-06-20 2017-12-22 东南大学 一种双开口直纤维型软接头人工肌肉
CN109937307A (zh) * 2016-11-07 2019-06-25 株式会社普利司通 液压致动器
CN113103219A (zh) * 2021-04-02 2021-07-13 清华大学 气动驱动器、机器人及机器人控制方法

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JPWO2008140032A1 (ja) 2010-08-05
EP2148097A4 (de) 2012-03-07
JP5246717B2 (ja) 2013-07-24
EP2148097B1 (de) 2016-01-06
US8640602B2 (en) 2014-02-04
WO2008140032A1 (ja) 2008-11-20
US20100269689A1 (en) 2010-10-28

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